Title :
Control of a walking robot with feet following a reference trajectory derived from ballistic motion
Author :
Chevallereau, C. ; Formal´sky, A. ; Perrin, B.
Author_Institution :
Inst. de Recherche en Cybern. de Nantes, CNRS, France
Abstract :
The goal of this paper is to define a control law and reference trajectories for a legged robot with feet. We use a computed torque control law associated with a desired motion of the legged robot derived from a ballistic trajectory. This approach leads to the same distribution of the torques as it can be observed for humans, and respects the assumption that muscle activities alternate with some periods of relaxation. Simulations are made on a simple model of quadruped for a dynamically stable planar gait
Keywords :
legged locomotion; mobile robots; motion control; robot dynamics; torque control; tracking; ballistic motion; computed torque control; dynamic model; legged robot; motion control; planar gait; quadruped model; reference trajectory tracking; walking robot; Computational modeling; Foot; Humans; Leg; Legged locomotion; Morphology; Motion control; Muscles; Robot kinematics; Torque control;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.614281
